一种新型穿戴式下肢外骨骼机器人的设计
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摘要
<正>脑卒中及脊髓损伤造成的偏瘫和截瘫患者逐年增加,偏瘫和截瘫患者只能长期卧床或者借助轮椅进行活动,给家庭和社会带来巨大的负担。融合机器人技术、传感器技术等前沿科技,可辅助使用者进行日常活动的穿戴式下肢外骨骼机器人逐渐成为研究的热点~([1])。国内外学者均对穿戴式下肢外骨骼机器人做过有益的
引文
[1]Zhu Z,Jiang C,Wang X,et al.Design of a wearable lower limb exoskeleton for paralyzed individuals[C]//International Conference on Mechatronics and Machine Vision in Practice.2016:1-6.
[2]Tsukahara A,Hasegawa Y,Eguchi K,et al.Restoration of gait for spinal cord injury patients using HAL with intention estimator for preferable swing speed[J].IEEE Transactions on Neural Systems&Rehabilitation Engineering,2015,23(2):308-318.
[3]欧阳小平,范伯骞,丁硕.助力型下肢外骨骼机器人现状及展望[J].科技导报,2015,33(23):92-99.
[4]Talaty M,Esquenazi A,Briceno JE.Differentiating ability in users of the ReWalk(TM)powered exoskeleton:an analysis of walking kinematics.[C]//IEEE International Conference on Rehabilitation Robotics.IEEE,2013:1-5.
[5]Raab K,Krakow K,Tripp F,et al.Effects of training with the ReWalk exoskeleton on quality of life in incomplete spinal cord injury:a single case study[J].Spinal Cord,2016,2(1):15025.
[6]Ha K,Murray S,Goldfarb M.An approach for the cooperative control of FES with a powered exoskeleton during level walking for persons with paraplegia.[J].IEEE Transactions on Neural Systems&Rehabilitation Engineering,2016,24(4):455-466.
[7]Evans N,Hartigan C,Kandilakis C,et al.Acute cardiorespiratory and metabolic responses during exoskeleton-assisted walking overground among persons with chronic spinal cord injury[J].Top Spinal Cord Inj Rehabil,2015,21(2):122-132.
[8]牛彬.可穿戴式的下肢步行外骨骼控制机理研究与实现[D]浙江大学,2006.
[9]程洪,林西川,邱静.ALDER外骨骼机器人系统[J].科技纵览2016(2):74-75.
[10]诺伊曼.骨骼肌肉功能解剖学[M].北京:人民军医出版社2014.
[11]Huo W,Mohammed S,Moreno JC,et al.Lower limb wearable robots for assistance and rehabilitation:a state of the art[J].IEEE Systems Journal,2016,10(7):1-14.
[12]李超.气动肌肉驱动的外骨骼助力系统研究[D].浙江大学2016.
[13]张政.下肢外骨骼机器人控制方法的研究[D].太原理工大学2015.
[14]CGA步态数据库数据_中华文本库http://www.chinadmd com/file/cctiaiisseupixi33ssxzpxr_1.html
[15]张莉洁,卢文涛,曹学民.四连杆仿生膝关节机构优化设计[J].机床与液压,2015,43(9):67-70.
[16]Bneakey,James W,Marquette,et al.Beyond the four-bar knee[J].Jpo Journal of Prosthetics&Orthotics,1998,10(3):77-80.
[17]魏鑫.MATLAB R2014a从入门到精通[M].北京:电子工业出版社,2015.
[18]DSSOLIDWORKS公司,陈超祥,胡其登.SOLIDWORKSMotion运动仿真教程[M].北京:机械工业出版社,2016.
[19]张晋西,蔡维,谭芬.SolidWorks Motion机械运动仿真实例教程[M].北京:清华大学出版社,2013.
[2]Tsukahara A,Hasegawa Y,Eguchi K,et al.Restoration of gait for spinal cord injury patients using HAL with intention estimator for preferable swing speed[J].IEEE Transactions on Neural Systems&Rehabilitation Engineering,2015,23(2):308-318.
[3]欧阳小平,范伯骞,丁硕.助力型下肢外骨骼机器人现状及展望[J].科技导报,2015,33(23):92-99.
[4]Talaty M,Esquenazi A,Briceno JE.Differentiating ability in users of the ReWalk(TM)powered exoskeleton:an analysis of walking kinematics.[C]//IEEE International Conference on Rehabilitation Robotics.IEEE,2013:1-5.
[5]Raab K,Krakow K,Tripp F,et al.Effects of training with the ReWalk exoskeleton on quality of life in incomplete spinal cord injury:a single case study[J].Spinal Cord,2016,2(1):15025.
[6]Ha K,Murray S,Goldfarb M.An approach for the cooperative control of FES with a powered exoskeleton during level walking for persons with paraplegia.[J].IEEE Transactions on Neural Systems&Rehabilitation Engineering,2016,24(4):455-466.
[7]Evans N,Hartigan C,Kandilakis C,et al.Acute cardiorespiratory and metabolic responses during exoskeleton-assisted walking overground among persons with chronic spinal cord injury[J].Top Spinal Cord Inj Rehabil,2015,21(2):122-132.
[8]牛彬.可穿戴式的下肢步行外骨骼控制机理研究与实现[D]浙江大学,2006.
[9]程洪,林西川,邱静.ALDER外骨骼机器人系统[J].科技纵览2016(2):74-75.
[10]诺伊曼.骨骼肌肉功能解剖学[M].北京:人民军医出版社2014.
[11]Huo W,Mohammed S,Moreno JC,et al.Lower limb wearable robots for assistance and rehabilitation:a state of the art[J].IEEE Systems Journal,2016,10(7):1-14.
[12]李超.气动肌肉驱动的外骨骼助力系统研究[D].浙江大学2016.
[13]张政.下肢外骨骼机器人控制方法的研究[D].太原理工大学2015.
[14]CGA步态数据库数据_中华文本库http://www.chinadmd com/file/cctiaiisseupixi33ssxzpxr_1.html
[15]张莉洁,卢文涛,曹学民.四连杆仿生膝关节机构优化设计[J].机床与液压,2015,43(9):67-70.
[16]Bneakey,James W,Marquette,et al.Beyond the four-bar knee[J].Jpo Journal of Prosthetics&Orthotics,1998,10(3):77-80.
[17]魏鑫.MATLAB R2014a从入门到精通[M].北京:电子工业出版社,2015.
[18]DSSOLIDWORKS公司,陈超祥,胡其登.SOLIDWORKSMotion运动仿真教程[M].北京:机械工业出版社,2016.
[19]张晋西,蔡维,谭芬.SolidWorks Motion机械运动仿真实例教程[M].北京:清华大学出版社,2013.